操作機が速度飽和特性を持つ場合の最短時間制御

概要

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It is well known that time optimal control of the linear system with the restricted magnitude of the control variable results in bang-bang control. But, when the actuator has the characteristic of the switching velocity saturation, it cannot perform bang-bang control. In this case, we must treat it as the system with the restricted state variable, considering U as a state and U as a control variable. Though time optimal control of such a system should be solved by application of the Maximum Principle with the restricted state variables, it is not applied to this kind of the problem yet, due to the difficulty of discussion on the jump condition of the auxiliary function and decision of the time when the phase point on the restricted plane leaves its plane. This paper shows that by transforming the jump condition into the form in which the magnitude of the jump is not written explicitly, the jump condition can be applied easily and the time leaving the restricted plane can be obtained, and that time optimal control of the linear system with one control variable saturated in its switching velocity can be solved by application of the Maximum Principle.
北見工業大学の論文